daf01e8fc4b531174cf5fd4478fa587f6923c132,geomstats/special_orthogonal_group.py,SpecialOrthogonalGroup,rotation_vector_from_quaternion,#SpecialOrthogonalGroup#Any#,287

Before Change

        cos_half_angle = np.clip(cos_half_angle, -1, 1)
        half_angle = np.arccos(cos_half_angle)

        rot_vec = np.ones_like(quaternion[:, 1:]) / np.sqrt(3)

        mask_not_0 = half_angle != 0
        if np.any(mask_not_0):
            rot_vec[mask_not_0] = (quaternion[mask_not_0, 1:]

After Change

        rot_vec = np.zeros_like(quaternion[:, 1:])

        mask_0 = np.isclose(half_angle, 0)
        mask_0 = np.squeeze(mask_0, axis=1)
        mask_not_0 = ~mask_0
        if np.any(mask_not_0):
            rot_vec[mask_not_0] = (quaternion[mask_not_0, 1:]
                                   / np.sin(half_angle[mask_not_0]))

Instances